US4510684A - Robot tool system - Google Patents
Robot tool system Download PDFInfo
- Publication number
- US4510684A US4510684A US06/328,727 US32872781A US4510684A US 4510684 A US4510684 A US 4510684A US 32872781 A US32872781 A US 32872781A US 4510684 A US4510684 A US 4510684A
- Authority
- US
- United States
- Prior art keywords
- tool
- robot
- connector
- condition
- tool assembly
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Images
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1612—Programme controls characterised by the hand, wrist, grip control
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J15/00—Gripping heads and other end effectors
- B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33182—Uart, serial datatransmission, modem
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/33—Director till display
- G05B2219/33337—For each axis a processor, microprocessor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/36—Nc in input of data, input key till input tape
- G05B2219/36113—Rom
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/39—Robotics, robotics to robotics hand
- G05B2219/39468—Changeable hand, tool, code carrier, detector
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/42—Servomotor, servo controller kind till VSS
- G05B2219/42237—Pwm pulse width modulation, pulse to position modulation ppm
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/30—Nc systems
- G05B2219/49—Nc machine tool, till multiple
- G05B2219/49302—Part, workpiece, code, tool identification
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
- Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
- Y10T29/00—Metal working
- Y10T29/53—Means to assemble or disassemble
- Y10T29/53004—Means to assemble or disassemble with means to regulate operation by use of templet, tape, card or other replaceable information supply
- Y10T29/53009—Means to assemble or disassemble with means to regulate operation by use of templet, tape, card or other replaceable information supply with comparator
- Y10T29/53013—Computer input
Definitions
- a principal object of the invention is to provide a readily and automatically-actuatable robot tool system.
- Another object of the invention is to provide a light weight tool as described above that has the ability to maintain dependable electrical communication with a robot but also with a tool rack.
- Still other objects of the invention are to provide a tool which is smart in the sense that it can (1) report its presence or a condition to a monitor when it is in a racked position and (2) respond to the electrical commands from the robot when it is on the robot's operating arm.
- tool assembly apparatus for us in connection with a robot apparatus, the tool comprising (1) a robot connector sub-assembly and (2) a tool assembly connectable to said sub-assembly.
- the sub-assembly and tool assembly each contain co-operating latch means forming a latched connection between said sub-assembly and tool assembly in response to a unidirectional movement of said robot assembly.
- the robot and said tool assembly comprise connecting electrical connector means and the tool assembly comprises motor means responsive to an electrical control signal through said robot.
- the robot and said tool assembly comprise connecting electrical conduit means and the tool assembly comprises code means forming means to communicate through the robot information specific to identity and condition of the tool means.
- the tool comprises circuit means and connector means to facilitate electrical transmission information relating to the condition of said circuit from the circuit through electrical conduits in the robot connector sub-assembly.
- the tool can comprise, additionally, means to transmit information relating to the condition of the circuit to a rack means for the tool.
- FIG. 1 is an exploded view of one tool assembly/robot/connector combination of the invention.
- FIGS. 2 and 3 are views in elevation of a latch mechanism used in apparatus of FIG. 1.
- FIG. 2 shows the position of the latch when locked on a robot connector assembly.
- FIG. 4 is a view of the apparatus of FIG. 1 in assembled form.
- an arm 20 of robot apparatus has a robot connector assembly, in this case a wrist assembly, comprising a servo motor 24 for imparting a wrist-like motion to an electrical terminal member, a rotary pin plug 25 carrying a plurality of electrical prongs 27.
- Member 25 fits snugly with thrust bearing 28 into lower wrist block member 30.
- Member 30 is clamped to robot arm 20 by upper wrist block member 32 with fasteners, such as screws. (In general, such commonplace fasteners are not shown in these drawings because their presence and use will be known to those skilled in the art.)
- the robot connector member 34 of the wrist assembly comprises connector means comprising two tines 36.
- Connector member 34 comprises a sleeve 38 which also fits into lower wrist block 30 abutting against the face of pin plug terminal 25 and forming means to protect prongs 27 which protrude, when the robot connector assembly is completed, into sleeve 38.
- It is wrist member 34 which is ultimately rotated within the wrist block formed of members 32 and 30, by servo 34 to provide wrist action.
- Prongs 36 each comprise a locking groove 26 (see FIGS. 2-3, also) which forms means to lock into the tool assembly.
- FIG. 1 also shows a tool assembly 40 which is adapted to be attached to robot connector assembly 23 by a unidirectional thrust of tines 36.
- Tool assembly 40 in this case a device adapted to pick up a test tube, comprises a lock or latching system, which is best seen in FIGS. 2 and 3, and which is held within a latch housing member 52 and a servo mounting terminal plate 54.
- Latching system comprises a latch member 56 which is held in open (up) position by virtue of the sub-assembly being held in a track on rack 112.
- a locking bolt 62 is pushed up by engagement with the ramp 121 of the track 122 to maintain this position until prongs 36 enter the apparatus, pull it off sideways and allow the springs to lock the prongs 36 by pushing latch member 56 downwardly into the locking groove 26 of the tines.
- a tool servo motor 70 operably connected to a tool or hand 72 comprising a gripping means mounted on brackets 76 which ride back and forth in the gear teeth of upper and lower racks 78 as those racks move in response to rotation of a rotary gear 79 on the servo shaft which rotates through an aperture in tool backplate 80.
- the tool itself advantageously sits in a tool holder 112 and is secured therein by bolt 62 in its downward position.
- the servo motor plate comprises electrical conductor means which provide means to send or receive electrical signals through either the robot or the tool rack depending upon where the tool is at a given time.
- Electrical connections from and to the apparatus can be made in a number of convenient ways. However, normally signals will be transmitted and received through multiwire conductor 100 which is connected to rotary pin member 25 and servo 24. Thence connections can be made through a central conduit 104 in the wrist member 34, through slots 106 in lock housing member 52 and opening 108 in latch 56 to servo motor 70. Also, there may be terminals 110 from the terminal mounting to a rack member 112 which, for example, is adapted to read a read only circuit, conveniently a memory chip 114, within the member 54 giving information about the tool members condition. In the simplest case the chip or circuit can carry a message as simple as "I am here on the rack” or "I am here locked properly on the robot".
Abstract
Description
Claims (6)
Priority Applications (8)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/328,727 US4510684A (en) | 1981-12-08 | 1981-12-08 | Robot tool system |
US06/355,349 US4488241A (en) | 1981-12-08 | 1982-03-08 | Robot system with interchangeable hands |
DE19823249273 DE3249273C2 (en) | 1981-12-08 | 1982-12-07 | Robot system |
PCT/US1982/001698 WO1983002183A1 (en) | 1981-12-08 | 1982-12-07 | Robot system with interchangeable hands |
GB08321225A GB2123183B (en) | 1981-12-08 | 1982-12-07 | Robot system with interchangeable hands |
EP83900297A EP0095504B1 (en) | 1981-12-08 | 1982-12-07 | Robot system with interchangeable hands |
JP83500429A JPS58502046A (en) | 1981-12-08 | 1982-12-07 | Robot system that can change hands |
CA000417240A CA1201194A (en) | 1981-12-08 | 1982-12-08 | Robot tool systems |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US06/328,727 US4510684A (en) | 1981-12-08 | 1981-12-08 | Robot tool system |
Related Child Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US06/355,349 Continuation-In-Part US4488241A (en) | 1981-12-08 | 1982-03-08 | Robot system with interchangeable hands |
Publications (1)
Publication Number | Publication Date |
---|---|
US4510684A true US4510684A (en) | 1985-04-16 |
Family
ID=23282164
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
US06/328,727 Expired - Lifetime US4510684A (en) | 1981-12-08 | 1981-12-08 | Robot tool system |
Country Status (2)
Country | Link |
---|---|
US (1) | US4510684A (en) |
CA (1) | CA1201194A (en) |
Cited By (16)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4660274A (en) * | 1985-11-29 | 1987-04-28 | Goumas Peter G | Robot tool changing apparatus |
US4816730A (en) * | 1986-12-22 | 1989-03-28 | E. I. Du Pont De Nemours And Company | Autosampler |
US4890241A (en) * | 1987-10-26 | 1989-12-26 | Megamation Incorporated | Robotic system |
US4941577A (en) * | 1988-07-21 | 1990-07-17 | Space Industries Partnership, L.P. | Portable robotic tool rack |
US5139744A (en) * | 1986-03-26 | 1992-08-18 | Beckman Instruments, Inc. | Automated laboratory work station having module identification means |
US5301261A (en) * | 1989-03-15 | 1994-04-05 | Hewlett-Packard Company | Pre-injection chromatographic sample sequencer |
US5985214A (en) * | 1997-05-16 | 1999-11-16 | Aurora Biosciences Corporation | Systems and methods for rapidly identifying useful chemicals in liquid samples |
US20020108857A1 (en) * | 2000-12-18 | 2002-08-15 | Michael Paschetto | Automated laboratory system and method |
US6602714B1 (en) | 1999-11-09 | 2003-08-05 | Sri International | Viscosity and mass sensor for the high-throughput synthesis, screening and characterization of combinatorial libraries |
US20030222771A1 (en) * | 2002-06-03 | 2003-12-04 | Johnson Richard R. | System and method for monitoring connections in a rail assembly |
US20040144445A1 (en) * | 2001-01-11 | 2004-07-29 | Pierre Cassese | Automated machine for setting flexible nailing points on a frame |
US7033840B1 (en) | 1999-11-09 | 2006-04-25 | Sri International | Reaction calorimeter and differential scanning calorimeter for the high-throughput synthesis, screening and characterization of combinatorial libraries |
ITBS20110173A1 (en) * | 2011-12-15 | 2013-06-16 | Gimatic Spa | FAST TOOL CHANGES FOR ROBOTS AND MANIPULATORS IN GENERAL |
US20160221196A1 (en) * | 2015-01-30 | 2016-08-04 | Canon Kabushiki Kaisha | Robot apparatus, exchanger apparatus and robot system |
CN106514685A (en) * | 2017-01-11 | 2017-03-22 | 中国科学院合肥物质科学研究院 | Finger quick replacing structure of robot |
CN108931701A (en) * | 2018-05-25 | 2018-12-04 | 北京中电华大电子设计有限责任公司 | A kind of automation equipment and test method of the test of contactless smart card adaptive stabilizing |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US28437A (en) * | 1860-05-22 | Improvement in revolving fire-arms | ||
US4298308A (en) * | 1979-09-24 | 1981-11-03 | Hans Richter | Apparatus for detecting forces directing the movement of a manipulating instrument |
US4379335A (en) * | 1980-10-28 | 1983-04-05 | Auto-Place, Inc. | Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot |
-
1981
- 1981-12-08 US US06/328,727 patent/US4510684A/en not_active Expired - Lifetime
-
1982
- 1982-12-08 CA CA000417240A patent/CA1201194A/en not_active Expired
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US28437A (en) * | 1860-05-22 | Improvement in revolving fire-arms | ||
US4298308A (en) * | 1979-09-24 | 1981-11-03 | Hans Richter | Apparatus for detecting forces directing the movement of a manipulating instrument |
US4379335A (en) * | 1980-10-28 | 1983-04-05 | Auto-Place, Inc. | Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot |
Cited By (32)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4660274A (en) * | 1985-11-29 | 1987-04-28 | Goumas Peter G | Robot tool changing apparatus |
US5139744A (en) * | 1986-03-26 | 1992-08-18 | Beckman Instruments, Inc. | Automated laboratory work station having module identification means |
US4816730A (en) * | 1986-12-22 | 1989-03-28 | E. I. Du Pont De Nemours And Company | Autosampler |
US4890241A (en) * | 1987-10-26 | 1989-12-26 | Megamation Incorporated | Robotic system |
US4941577A (en) * | 1988-07-21 | 1990-07-17 | Space Industries Partnership, L.P. | Portable robotic tool rack |
US5301261A (en) * | 1989-03-15 | 1994-04-05 | Hewlett-Packard Company | Pre-injection chromatographic sample sequencer |
US5985214A (en) * | 1997-05-16 | 1999-11-16 | Aurora Biosciences Corporation | Systems and methods for rapidly identifying useful chemicals in liquid samples |
US6372185B1 (en) | 1997-05-16 | 2002-04-16 | Aurora Biosciences Corporation | Liquid chemical distribution method and apparatus |
US6472218B1 (en) | 1997-05-16 | 2002-10-29 | Vertex Pharmaceuticals (San Diego), Llc | Systems and methods for rapidly identifying useful chemicals in liquid samples |
US6890485B1 (en) | 1997-05-16 | 2005-05-10 | Aurora Discovery, Inc. | High throughput chemical handling system |
US6468800B1 (en) | 1997-05-16 | 2002-10-22 | Vertex Pharmaceuticals (San Diego), Llc | Systems and methods for rapidly identifying useful chemicals in liquid samples |
US20050191670A1 (en) * | 1997-05-16 | 2005-09-01 | Aurora Discovery, Inc. | High throughput chemical handling system |
US20080226498A1 (en) * | 1997-05-16 | 2008-09-18 | Aurora Discovery, Inc. | High throughput chemical handling system |
US6678577B1 (en) | 1997-05-16 | 2004-01-13 | Vertex Pharmaceuticals Incorporated | Systems and methods for rapidly identifying useful chemicals in liquid samples |
US6685884B2 (en) | 1997-05-16 | 2004-02-03 | Vertex Pharmaceuticals, Inc. | Methods for rapidly identifying useful chemicals in liquid sample |
US7105132B2 (en) | 1997-05-16 | 2006-09-12 | Aurora Discovery, Inc. | Liquid chemical distribution method and apparatus |
US20020119077A1 (en) * | 1997-05-16 | 2002-08-29 | Shumate Christopher Bentley | Liquid chemical distribution method and apparatus |
US6602714B1 (en) | 1999-11-09 | 2003-08-05 | Sri International | Viscosity and mass sensor for the high-throughput synthesis, screening and characterization of combinatorial libraries |
US7033840B1 (en) | 1999-11-09 | 2006-04-25 | Sri International | Reaction calorimeter and differential scanning calorimeter for the high-throughput synthesis, screening and characterization of combinatorial libraries |
US20020108857A1 (en) * | 2000-12-18 | 2002-08-15 | Michael Paschetto | Automated laboratory system and method |
US20060201810A1 (en) * | 2000-12-18 | 2006-09-14 | Protedyne Corporation | Automated laboratory system |
US8865474B2 (en) | 2000-12-18 | 2014-10-21 | Protedyne Corporation | Automated laboratory system |
US7010851B2 (en) * | 2001-01-11 | 2006-03-14 | Cassese Societe Anonyme | Automated machine for setting bendable nailing pins on a frame |
US20040144445A1 (en) * | 2001-01-11 | 2004-07-29 | Pierre Cassese | Automated machine for setting flexible nailing points on a frame |
US6870481B2 (en) * | 2002-06-03 | 2005-03-22 | Syron Engineering & Manufacturing, L.L.C. | System and method for monitoring connections in a rail assembly |
US20030222771A1 (en) * | 2002-06-03 | 2003-12-04 | Johnson Richard R. | System and method for monitoring connections in a rail assembly |
ITBS20110173A1 (en) * | 2011-12-15 | 2013-06-16 | Gimatic Spa | FAST TOOL CHANGES FOR ROBOTS AND MANIPULATORS IN GENERAL |
US20160221196A1 (en) * | 2015-01-30 | 2016-08-04 | Canon Kabushiki Kaisha | Robot apparatus, exchanger apparatus and robot system |
US9757863B2 (en) * | 2015-01-30 | 2017-09-12 | Canon Kabushiki Kaisha | Robot apparatus, exchanger apparatus and robot system |
CN106514685A (en) * | 2017-01-11 | 2017-03-22 | 中国科学院合肥物质科学研究院 | Finger quick replacing structure of robot |
CN106514685B (en) * | 2017-01-11 | 2018-09-25 | 中国科学院合肥物质科学研究院 | A kind of robot quick change finger structure |
CN108931701A (en) * | 2018-05-25 | 2018-12-04 | 北京中电华大电子设计有限责任公司 | A kind of automation equipment and test method of the test of contactless smart card adaptive stabilizing |
Also Published As
Publication number | Publication date |
---|---|
CA1201194A (en) | 1986-02-25 |
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Legal Events
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AS | Assignment |
Owner name: ZYMARK CORPORATION, 102 SOUTH STREET, HOPKINTON, M Free format text: ASSIGNMENT OF ASSIGNORS INTEREST.;ASSIGNORS:HUTCHINS, BURLEIGH M.;ABRAHAMS, LOUIS;REEL/FRAME:003984/0829 Effective date: 19820106 Owner name: ZYMARK CORPORATION, MASSACHUSETTS Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:HUTCHINS, BURLEIGH M.;ABRAHAMS, LOUIS;REEL/FRAME:003984/0829 Effective date: 19820106 |
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